Remove the version restriction for numpy

[kamo-naoyuki]

Maybe the issue of new NumPy has been fixed since our ci was not failed.

[codecov]

Codecov Report

Merging #4419 (63a14f5) into master (cdea46d) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##           master    #4419   +/-   ##
=======================================
  Coverage   82.56%   82.56%           
=======================================
  Files         469      469           
  Lines       40213    40213           
=======================================
  Hits        33203    33203           
  Misses       7010     7010           

Flag	Coverage Δ
test_integration_espnet1	66.58% <75.00%> (ø)
test_integration_espnet2	49.55% <0.00%> (ø)
test_python	69.36% <100.00%> (ø)
test_utils	23.45% <0.00%> (ø)

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Impacted Files	Coverage Δ
espnet/nets/pytorch_backend/e2e_st.py	87.15% <ø> (ø)
...et/nets/chainer_backend/transformer/subsampling.py	75.55% <100.00%> (ø)
...t/nets/pytorch_backend/frontends/mask_estimator.py	94.59% <100.00%> (ø)
espnet/nets/pytorch_backend/nets_utils.py	85.15% <100.00%> (ø)
espnet2/asr/encoder/rnn_encoder.py	100.00% <100.00%> (ø)
espnet2/asr/encoder/vgg_rnn_encoder.py	100.00% <100.00%> (ø)
espnet2/enh/layers/mask_estimator.py	92.15% <100.00%> (ø)

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